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/** \author Jia Pan */

#include <hpp/fcl/distance.h>
#include <hpp/fcl/collision_utility.h>
#include <hpp/fcl/distance_func_matrix.h>
#include <hpp/fcl/narrowphase/narrowphase.h>

#include <iostream>

namespace hpp {
namespace fcl {

DistanceFunctionMatrix& getDistanceFunctionLookTable() {
  static DistanceFunctionMatrix table;
  return table;
}

FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
                  const DistanceRequest& request, DistanceResult& result) {
  return distance(o1->collisionGeometryPtr(), o1->getTransform(),
                  o2->collisionGeometryPtr(), o2->getTransform(), request,
                  result);
}

FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
                  const CollisionGeometry* o2, const Transform3f& tf2,
                  const DistanceRequest& request, DistanceResult& result) {
  GJKSolver solver(request);

  const DistanceFunctionMatrix& looktable = getDistanceFunctionLookTable();

  OBJECT_TYPE object_type1 = o1->getObjectType();
  NODE_TYPE node_type1 = o1->getNodeType();
  OBJECT_TYPE object_type2 = o2->getObjectType();
  NODE_TYPE node_type2 = o2->getNodeType();

  FCL_REAL res = (std::numeric_limits<FCL_REAL>::max)();

  if (object_type1 == OT_GEOM &&
      (object_type2 == OT_BVH || object_type2 == OT_HFIELD)) {
    if (!looktable.distance_matrix[node_type2][node_type1]) {
      HPP_FCL_THROW_PRETTY("Distance function between node type "
                               << std::string(get_node_type_name(node_type1))
                               << " and node type "
                               << std::string(get_node_type_name(node_type2))
                               << " is not yet supported.",
                           std::invalid_argument);
    } else {
      res = looktable.distance_matrix[node_type2][node_type1](
          o2, tf2, o1, tf1, &solver, request, result);
      // If closest points are requested, switch object 1 and 2
      if (request.enable_nearest_points) {
        const CollisionGeometry* tmpo = result.o1;
        result.o1 = result.o2;
        result.o2 = tmpo;
        Vec3f tmpn(result.nearest_points[0]);
        result.nearest_points[0] = result.nearest_points[1];
        result.nearest_points[1] = tmpn;
      }
    }
  } else {
    if (!looktable.distance_matrix[node_type1][node_type2]) {
      HPP_FCL_THROW_PRETTY("Distance function between node type "
                               << std::string(get_node_type_name(node_type1))
                               << " and node type "
                               << std::string(get_node_type_name(node_type2))
                               << " is not yet supported.",
                           std::invalid_argument);
    } else {
      res = looktable.distance_matrix[node_type1][node_type2](
          o1, tf1, o2, tf2, &solver, request, result);
    }
  }
  if (solver.gjk_initial_guess == GJKInitialGuess::CachedGuess ||
      solver.enable_cached_guess) {
    result.cached_gjk_guess = solver.cached_guess;
    result.cached_support_func_guess = solver.support_func_cached_guess;
  }

  return res;
}

ComputeDistance::ComputeDistance(const CollisionGeometry* o1,
                                 const CollisionGeometry* o2)
    : o1(o1), o2(o2) {
  const DistanceFunctionMatrix& looktable = getDistanceFunctionLookTable();

  OBJECT_TYPE object_type1 = o1->getObjectType();
  NODE_TYPE node_type1 = o1->getNodeType();
  OBJECT_TYPE object_type2 = o2->getObjectType();
  NODE_TYPE node_type2 = o2->getNodeType();

  swap_geoms = object_type1 == OT_GEOM &&
               (object_type2 == OT_BVH || object_type2 == OT_HFIELD);

  if ((swap_geoms && !looktable.distance_matrix[node_type2][node_type1]) ||
      (!swap_geoms && !looktable.distance_matrix[node_type1][node_type2])) {
    HPP_FCL_THROW_PRETTY("Distance function between node type "
                             << std::string(get_node_type_name(node_type1))
                             << " and node type "
                             << std::string(get_node_type_name(node_type2))
                             << " is not yet supported.",
                         std::invalid_argument);
  }
  if (swap_geoms)
    func = looktable.distance_matrix[node_type2][node_type1];
  else
    func = looktable.distance_matrix[node_type1][node_type2];
}

FCL_REAL ComputeDistance::run(const Transform3f& tf1, const Transform3f& tf2,
                              const DistanceRequest& request,
                              DistanceResult& result) const {
  FCL_REAL res;

  if (swap_geoms) {
    res = func(o2, tf2, o1, tf1, &solver, request, result);
    if (request.enable_nearest_points) {
      std::swap(result.o1, result.o2);
      result.nearest_points[0].swap(result.nearest_points[1]);
    }
  } else {
    res = func(o1, tf1, o2, tf2, &solver, request, result);
  }

  return res;
}

FCL_REAL ComputeDistance::operator()(const Transform3f& tf1,
                                     const Transform3f& tf2,
                                     const DistanceRequest& request,
                                     DistanceResult& result) const {
  solver.set(request);

  FCL_REAL res;
  if (request.enable_timings) {
    Timer timer;
    res = run(tf1, tf2, request, result);
    result.timings = timer.elapsed();
  } else
    res = run(tf1, tf2, request, result);

  if (solver.gjk_initial_guess == GJKInitialGuess::CachedGuess ||
      solver.enable_cached_guess) {
    result.cached_gjk_guess = solver.cached_guess;
    result.cached_support_func_guess = solver.support_func_cached_guess;
  }
  return res;
}

}  // namespace fcl
}  // namespace hpp
